                        [sep2]
                       
                        ;; Robot base
-                       (when (state/get-var init [:parked?]) ['(parked) sep2])
+                       (when (state/get-var init [:parked?]) ['(parked) '(placing dummy) sep2])
                        (let [[x y] (state/get-var init [:base])]
                          [(str (list 'base-pos (xc x) (yc y))) sep2])
                        [sep2]

               (list :domain 'DM) sep sep

               (concat [:objects sep2]
                       (for [[name _ g-set] objects :when (seq g-set)]
                         (str name " - object " sep2))
                       (for [x (range width)] (str (xc x) " - xc " sep2))             

                                      border-cells)
                                   obstacle-cells)}
                         (for [[o _ goal] objects :when goal] [[:goal o] (set goal)]))
            [:base] base [:gripper-offset] [0 0] [:holding] nil [:parked?] true}
           (apply concat
            (for [cell all-cells]    [[:object-at cell] nil])
            (for [cell border-cells] [[:object-at cell] :border])
